Lyapunov Design of an Adaptive External Linearization Feedback Control for Manipulators

  • G. Campion
  • G. Bastin
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 83)


This paper presents an adaptive extension of the external linearization feedback control applied to manipulators. The design of the adaptation law is based on a Lyapunov stability analysis. This algorithm ensures stability of the error model, even in case of poor knowledge of the model parameters, as well as good robustness properties in presence of unmodelled bounded disturbances.


Inertia Matrix Inertia Moment Model Reference Adaptive Control Parameter Estimation Error Adaptive Control Algorithm 
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Copyright information

© Springer Science+Business Media Dordrecht 1986

Authors and Affiliations

  • G. Campion
    • 1
  • G. Bastin
    • 2
  1. 1.Chargé de RecherchesFNRSBelgium
  2. 2.GRECO — Systèmes Adaptatifs (CNRS, France) Laboratoire d’Automatique, Dynamique et Analyse des SystèmesUniversité Catholique de LouvainLouvain-La-NeuveBelgium

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